Line-tracking progress

Today the line-tracking programm is updated again. The controller is replaced by a PD controller. After callibration, the error in the program gets scaled according to the calibrated values so that the PD controller doesn't have to be tuned again for every new condition.
The program is also made more robust for cracks and deviations in the line. Another addition is that with the same program, it can follow dark lines on light surfaces or vice versa!
Tracking a black line on the table surface:

 

 Tracking a light line (the table) on a dark surface. Note that it starts on a piece of tape and thus sees this tape as the surface and the table as a line: